version: 66.07
glider: 500
mission: 5
dive: 376
start: 2 14 111 16 12 48
data:
$ID,500
$MISSION,5
$DIVE,376
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,1020
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-128924.48
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3090
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2995
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,140211,160200,2159.797,12817.717,39,1.1,39,-3.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.8
$GPS2,140211,161155,2159.934,12817.590,12,1.6,18,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.023,-0.220
$KALMAN_X,-785941.6,104.5,286.8,1305147.4,-291.3
$KALMAN_Y,62576.6,-393.7,-217.7,31138.0,8133.0
$MHEAD_RNG_PITCHd_Wd,189.0,202168,-9.4,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,16289,-0.50,-155.7,886.2,-4.3,554,16293,0.00,2.35,0.00,0.000,6,0.000,0.037,2916,2153,3613,0,0,0,0,0,0
$GC,16620,-0.50,-155.7,896.9,-3.0,562,16624,0.00,2.47,0.00,0.000,4,0.000,0.057,2906,3740,3612,0,0,0,0,0,0
$GC,16680,-0.50,-155.7,899.1,-3.7,563,16684,0.00,2.38,0.00,0.000,6,0.000,0.038,2906,2145,3612,0,0,0,0,0,0
$GC,17025,-0.50,-155.7,910.6,-3.3,572,17029,0.00,2.50,0.00,0.000,4,0.000,0.058,2895,3736,3611,0,0,0,0,0,0
$GC,17069,-0.50,-155.7,912.3,-3.1,573,17074,0.10,2.38,0.00,0.000,6,0.119,0.039,2933,2150,3611,0,0,0,0,0,0
$GC,17391,-0.50,-155.7,922.8,-3.5,581,17395,0.00,2.50,0.00,0.000,4,0.000,0.058,2924,3731,3611,0,0,0,0,0,0
$GC,17593,-0.50,-155.7,931.1,-4.6,585,17597,0.00,2.38,0.00,0.000,6,0.000,0.037,2924,2144,3611,0,0,0,0,0,0
$GC,17936,-0.50,-155.7,945.5,-4.4,594,17940,0.00,2.47,0.00,0.000,4,0.000,0.058,2921,3730,3610,0,0,0,0,0,0
$GC,18127,-0.50,-155.7,954.8,-5.2,598,18131,0.00,2.35,0.00,0.000,6,0.000,0.038,2921,2148,3610,0,0,0,0,0,0
$GC,18477,-0.50,-155.7,970.9,-4.6,607,18482,0.00,2.50,0.00,0.000,4,0.000,0.058,2911,3732,3610,0,0,0,0,0,0
$GC,18578,-0.50,-155.7,975.8,-5.3,609,18582,0.00,2.38,0.00,0.000,6,0.000,0.038,2911,2149,3609,0,0,0,0,0,0
$STATE,18888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18889,begin apogee
$GC,18897,-0.23,0.0,990.4,4.7,617,19043,0.30,0.00,143.43,1.621,6,0.078,0.000,3027,1926,2996,0,0,0,0,0,0
$STATE,19044,end apogee,CONTROL_FINISHED_OK
$STATE,19044,begin climb
$GC,19046,0.50,155.7,992.4,0.0,620,19211,0.60,2.75,156.98,1.568,4,0.051,0.051,3271,343,2359,0,0,0,0,0,0
$GC,19246,0.50,155.7,969.2,15.3,624,19250,0.00,2.58,0.00,0.000,6,0.000,0.045,3271,1918,2358,0,0,0,0,0,0
$GC,19578,0.50,155.7,920.1,15.0,632,19582,0.00,2.45,0.00,0.000,4,0.000,0.056,3271,3506,2350,0,0,0,0,0,0
$GC,19638,0.50,155.7,909.9,14.9,633,19643,0.08,2.45,0.00,0.000,6,0.114,0.042,3252,1929,2348,0,0,0,0,0,0
$GC,19987,0.50,155.7,864.7,12.5,642,19991,0.00,2.42,0.00,0.000,4,0.000,0.052,3263,335,2346,0,0,0,0,0,0
$GC,20077,0.50,155.7,853.9,11.7,644,20082,0.00,2.38,0.00,0.000,6,0.000,0.047,3264,1919,2346,0,0,0,0,0,0
$GC,20397,0.50,155.7,813.8,12.5,652,20401,0.00,2.42,0.00,0.000,4,0.000,0.056,3264,3508,2345,0,0,0,0,0,0
$GC,20492,0.50,155.7,800.7,13.1,654,20496,0.00,2.40,0.00,0.000,6,0.000,0.042,3276,1912,2344,0,0,0,0,0,0
$GC,20805,0.50,155.7,757.2,14.2,662,20809,0.00,2.40,0.00,0.000,4,0.000,0.054,3288,344,2343,0,0,0,0,0,0
$GC,20845,0.50,155.7,751.0,14.6,663,20850,0.12,2.38,0.00,0.000,6,0.133,0.048,3247,1926,2343,0,0,0,0,0,0
$GC,21169,0.50,155.7,708.6,12.8,671,21173,0.00,2.45,0.00,0.000,4,0.000,0.058,3246,3514,2343,0,0,0,0,0,0
$GC,21230,0.50,155.7,700.0,13.6,672,21234,0.00,2.40,0.00,0.000,6,0.000,0.044,3258,1927,2343,0,0,0,0,0,0
$GC,21573,0.50,155.7,656.1,12.6,681,21574,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1926,2343,0,0,0,0,0,0
$GC,21897,0.50,155.7,618.4,11.6,689,21902,0.00,2.45,0.00,0.000,4,0.000,0.053,3270,329,2342,0,0,0,0,0,0
$GC,21930,0.50,155.7,614.3,11.6,689,21936,0.00,2.40,0.00,0.000,6,0.000,0.048,3270,1921,2342,0,0,0,0,0,0
$GC,22261,0.50,155.7,573.7,12.2,698,22265,0.00,2.50,0.00,0.000,4,0.000,0.060,3270,3516,2342,0,0,0,0,0,0
$GC,22346,0.50,155.7,563.1,12.7,700,22350,0.00,2.45,0.00,0.000,6,0.000,0.045,3283,1913,2342,0,0,0,0,0,0
$GC,22676,0.50,155.7,522.6,12.6,708,22680,0.00,2.42,0.00,0.000,4,0.000,0.055,3295,333,2342,0,0,0,0,0,0
$GC,22762,0.50,155.7,511.7,13.2,710,22767,0.15,2.40,0.00,0.000,6,0.122,0.048,3245,1926,2342,0,0,0,0,0,0
$GC,23088,0.50,155.7,479.7,9.4,718,23092,0.00,2.45,0.00,0.000,4,0.000,0.057,3244,3517,2342,0,0,0,0,0,0
$GC,23173,0.50,155.7,470.9,10.1,720,23177,0.00,2.45,0.00,0.000,6,0.000,0.043,3255,1914,2341,0,0,0,0,0,0
$GC,23497,0.50,155.7,438.1,10.3,728,23502,0.00,2.42,0.00,0.000,4,0.000,0.054,3268,331,2341,0,0,0,0,0,0
$GC,23548,0.50,155.7,432.7,11.3,729,23552,0.00,2.42,0.00,0.000,6,0.000,0.046,3268,1934,2341,0,0,0,0,0,0
$GC,23861,0.50,155.7,398.6,10.7,737,23865,0.00,2.45,0.00,0.000,4,0.000,0.056,3268,3510,2342,0,0,0,0,0,0
$GC,23928,0.50,155.7,391.2,13.0,738,23932,0.00,2.42,0.00,0.000,6,0.000,0.043,3281,1908,2342,0,0,0,0,0,0
$GC,24265,0.50,155.7,356.9,10.2,747,24269,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,332,2343,0,0,0,0,0,0
$GC,24325,0.50,155.7,350.3,9.8,748,24330,0.12,2.38,0.00,0.000,6,0.127,0.044,3251,1921,2344,0,0,0,0,0,0
$GC,24675,0.50,155.7,322.0,7.6,757,24679,0.00,2.45,0.00,0.000,4,0.000,0.056,3251,3517,2344,0,0,0,0,0,0
$GC,24780,0.50,155.7,313.2,8.9,759,24784,0.00,2.40,0.00,0.000,6,0.000,0.041,3261,1926,2344,0,0,0,0,0,0
$GC,25110,0.50,155.7,284.3,9.3,771,25111,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1926,2345,0,0,0,0,0,0
$GC,25421,0.50,155.7,253.2,10.4,786,25425,0.00,2.42,0.00,0.000,4,0.000,0.051,3274,331,2346,0,0,0,0,0,0
$GC,25482,0.50,155.7,246.7,9.5,789,25487,0.00,2.35,0.00,0.000,6,0.000,0.041,3274,1929,2346,0,0,0,0,0,0
$GC,25809,0.50,155.7,214.7,9.3,805,25813,0.00,2.42,0.00,0.000,4,0.000,0.054,3274,3509,2347,0,0,0,0,0,0
$GC,25897,0.50,155.7,206.1,9.0,809,25902,0.12,2.40,0.00,0.000,6,0.127,0.041,3243,1910,2348,0,0,0,0,0,0
$GC,26221,0.50,155.7,184.9,6.0,835,26225,0.00,2.40,0.00,0.000,4,0.000,0.050,3254,329,2349,0,0,0,0,0,0
$GC,26272,0.50,155.7,181.5,6.0,839,26276,0.00,2.35,0.00,0.000,6,0.000,0.041,3254,1914,2349,0,0,0,0,0,0
$GC,26539,0.50,155.7,163.2,6.3,864,26543,0.00,2.47,0.00,0.000,4,0.000,0.053,3254,3517,2351,0,0,0,0,0,0
$GC,26628,0.50,155.7,156.5,6.7,871,26634,0.00,2.40,0.00,0.000,6,0.000,0.040,3266,1926,2351,0,0,0,0,0,0
$GC,26889,0.50,155.7,139.4,6.6,896,26893,0.00,2.42,0.00,0.000,4,0.000,0.050,3278,327,2352,0,0,0,0,0,0
$GC,26939,0.50,155.7,135.7,7.5,900,26943,0.00,2.35,0.00,0.000,6,0.000,0.041,3278,1928,2353,0,0,0,0,0,0
$GC,27199,0.50,155.7,115.2,8.3,924,27204,0.00,2.45,0.00,0.000,4,0.000,0.054,3278,3514,2354,0,0,0,0,0,0
$GC,27244,0.50,155.7,111.2,9.4,927,27251,0.12,2.42,0.00,0.000,6,0.122,0.041,3247,1906,2354,0,0,0,0,0,0
$GC,27506,0.50,155.7,93.5,6.9,952,27510,0.00,2.40,0.00,0.000,4,0.000,0.049,3257,329,2355,0,0,0,0,0,0
$GC,27572,0.50,155.7,88.9,6.6,957,27578,0.00,2.35,0.00,0.000,6,0.000,0.041,3257,1924,2355,0,0,0,0,0,0
$GC,27833,0.54,185.5,71.6,5.2,982,27865,0.00,2.55,26.38,0.808,4,0.000,0.053,3258,3521,2238,0,0,0,0,0,0
$GC,27926,0.54,185.5,64.6,7.0,990,27932,0.00,2.42,0.00,0.000,6,0.000,0.039,3269,1909,2238,0,0,0,0,0,0
$GC,28189,0.58,217.8,49.7,5.1,1015,28223,0.00,2.47,27.67,0.826,4,0.000,0.049,3280,340,2106,0,0,0,0,0,0
$GC,28287,0.68,295.8,45.5,3.9,1024,28361,0.00,2.35,64.50,0.847,6,0.000,0.041,3280,1922,1789,0,0,0,0,0,0
$GC,28614,0.68,295.8,22.1,6.9,1055,28618,0.00,2.45,0.00,0.000,4,0.000,0.052,3280,3511,1792,0,0,0,0,0,0
$GC,28642,0.68,295.8,20.2,7.4,1057,28646,0.00,2.42,0.00,0.000,6,0.000,0.041,3290,1915,1792,0,0,0,0,0,0
$GC,28840,0.74,349.9,9.1,4.6,1075,28892,0.10,2.50,44.47,0.802,4,0.097,0.052,3383,327,1567,0,0,0,0,0,0
$STATE,28897,end climb,SURFACE_DEPTH_REACHED
$STATE,28897,begin surface coast
$FINISH,0.4,1.023365
$STATE,28920,end surface coast,CONTROL_FINISHED_OK
$STATE,28920,begin surface
$SM_CCo,28942,30.45,0.792,0,0,1364,400.08
$SM_GC,1.10,0.00,0.00,30.45,0.000,0.000,0.792,107,2159,1364,-9.32,0.23,400.08
$IRIDIUM_FIX,2155.06,13010.36,090812,010125
$TT8_MAMPS,0.027612
$HUMID,1078725797
$INTERNAL_PRESSURE,9.18859
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,21.7,65.716
$10V_AH,9.8,55.530
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.575,295.050,463.425,30.450,0.000,28.273,35.584,382.094,0.000,0.000,20.162,2387.556,22715.760,691.542,3177.300,573.746,33.377,2246.214,0.000,2740.421,0.000,0.541,0.000
$DEVICE_MAMPS,214.760,59.826,1620.671,792.311,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,738.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354964
$DATA_FILE_SIZE,40029,1082
$CAP_FILE_SIZE,313323,0
$CFSIZE,260165632,188944384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150211,001707,2159.308,12816.084,47,1.7,47,-3.1